diff options
Diffstat (limited to 'mavlink/share/pyshared/pymavlink/fgFDM.py')
| -rw-r--r-- | mavlink/share/pyshared/pymavlink/fgFDM.py | 209 |
1 files changed, 0 insertions, 209 deletions
diff --git a/mavlink/share/pyshared/pymavlink/fgFDM.py b/mavlink/share/pyshared/pymavlink/fgFDM.py deleted file mode 100644 index f390e0a93..000000000 --- a/mavlink/share/pyshared/pymavlink/fgFDM.py +++ /dev/null @@ -1,209 +0,0 @@ -#!/usr/bin/env python -# parse and construct FlightGear NET FDM packets -# Andrew Tridgell, November 2011 -# released under GNU GPL version 2 or later - -import struct, math - -class fgFDMError(Exception): - '''fgFDM error class''' - def __init__(self, msg): - Exception.__init__(self, msg) - self.message = 'fgFDMError: ' + msg - -class fgFDMVariable(object): - '''represent a single fgFDM variable''' - def __init__(self, index, arraylength, units): - self.index = index - self.arraylength = arraylength - self.units = units - -class fgFDMVariableList(object): - '''represent a list of fgFDM variable''' - def __init__(self): - self.vars = {} - self._nextidx = 0 - - def add(self, varname, arraylength=1, units=None): - self.vars[varname] = fgFDMVariable(self._nextidx, arraylength, units=units) - self._nextidx += arraylength - -class fgFDM(object): - '''a flightgear native FDM parser/generator''' - def __init__(self): - '''init a fgFDM object''' - self.FG_NET_FDM_VERSION = 24 - self.pack_string = '>I 4x 3d 6f 11f 3f 2f I 4I 4f 4f 4f 4f 4f 4f 4f 4f 4f I 4f I 3I 3f 3f 3f I i f 10f' - self.values = [0]*98 - - self.FG_MAX_ENGINES = 4 - self.FG_MAX_WHEELS = 3 - self.FG_MAX_TANKS = 4 - - # supported unit mappings - self.unitmap = { - ('radians', 'degrees') : math.degrees(1), - ('rps', 'dps') : math.degrees(1), - ('feet', 'meters') : 0.3048, - ('fps', 'mps') : 0.3048, - ('knots', 'mps') : 0.514444444, - ('knots', 'fps') : 0.514444444/0.3048, - ('fpss', 'mpss') : 0.3048, - ('seconds', 'minutes') : 60, - ('seconds', 'hours') : 3600, - } - - # build a mapping between variable name and index in the values array - # note that the order of this initialisation is critical - it must - # match the wire structure - self.mapping = fgFDMVariableList() - self.mapping.add('version') - - # position - self.mapping.add('longitude', units='radians') # geodetic (radians) - self.mapping.add('latitude', units='radians') # geodetic (radians) - self.mapping.add('altitude', units='meters') # above sea level (meters) - self.mapping.add('agl', units='meters') # above ground level (meters) - - # attitude - self.mapping.add('phi', units='radians') # roll (radians) - self.mapping.add('theta', units='radians') # pitch (radians) - self.mapping.add('psi', units='radians') # yaw or true heading (radians) - self.mapping.add('alpha', units='radians') # angle of attack (radians) - self.mapping.add('beta', units='radians') # side slip angle (radians) - - # Velocities - self.mapping.add('phidot', units='rps') # roll rate (radians/sec) - self.mapping.add('thetadot', units='rps') # pitch rate (radians/sec) - self.mapping.add('psidot', units='rps') # yaw rate (radians/sec) - self.mapping.add('vcas', units='fps') # calibrated airspeed - self.mapping.add('climb_rate', units='fps') # feet per second - self.mapping.add('v_north', units='fps') # north velocity in local/body frame, fps - self.mapping.add('v_east', units='fps') # east velocity in local/body frame, fps - self.mapping.add('v_down', units='fps') # down/vertical velocity in local/body frame, fps - self.mapping.add('v_wind_body_north', units='fps') # north velocity in local/body frame - self.mapping.add('v_wind_body_east', units='fps') # east velocity in local/body frame - self.mapping.add('v_wind_body_down', units='fps') # down/vertical velocity in local/body - - # Accelerations - self.mapping.add('A_X_pilot', units='fpss') # X accel in body frame ft/sec^2 - self.mapping.add('A_Y_pilot', units='fpss') # Y accel in body frame ft/sec^2 - self.mapping.add('A_Z_pilot', units='fpss') # Z accel in body frame ft/sec^2 - - # Stall - self.mapping.add('stall_warning') # 0.0 - 1.0 indicating the amount of stall - self.mapping.add('slip_deg', units='degrees') # slip ball deflection - - # Engine status - self.mapping.add('num_engines') # Number of valid engines - self.mapping.add('eng_state', self.FG_MAX_ENGINES) # Engine state (off, cranking, running) - self.mapping.add('rpm', self.FG_MAX_ENGINES) # Engine RPM rev/min - self.mapping.add('fuel_flow', self.FG_MAX_ENGINES) # Fuel flow gallons/hr - self.mapping.add('fuel_px', self.FG_MAX_ENGINES) # Fuel pressure psi - self.mapping.add('egt', self.FG_MAX_ENGINES) # Exhuast gas temp deg F - self.mapping.add('cht', self.FG_MAX_ENGINES) # Cylinder head temp deg F - self.mapping.add('mp_osi', self.FG_MAX_ENGINES) # Manifold pressure - self.mapping.add('tit', self.FG_MAX_ENGINES) # Turbine Inlet Temperature - self.mapping.add('oil_temp', self.FG_MAX_ENGINES) # Oil temp deg F - self.mapping.add('oil_px', self.FG_MAX_ENGINES) # Oil pressure psi - - # Consumables - self.mapping.add('num_tanks') # Max number of fuel tanks - self.mapping.add('fuel_quantity', self.FG_MAX_TANKS) - - # Gear status - self.mapping.add('num_wheels') - self.mapping.add('wow', self.FG_MAX_WHEELS) - self.mapping.add('gear_pos', self.FG_MAX_WHEELS) - self.mapping.add('gear_steer', self.FG_MAX_WHEELS) - self.mapping.add('gear_compression', self.FG_MAX_WHEELS) - - # Environment - self.mapping.add('cur_time', units='seconds') # current unix time - self.mapping.add('warp', units='seconds') # offset in seconds to unix time - self.mapping.add('visibility', units='meters') # visibility in meters (for env. effects) - - # Control surface positions (normalized values) - self.mapping.add('elevator') - self.mapping.add('elevator_trim_tab') - self.mapping.add('left_flap') - self.mapping.add('right_flap') - self.mapping.add('left_aileron') - self.mapping.add('right_aileron') - self.mapping.add('rudder') - self.mapping.add('nose_wheel') - self.mapping.add('speedbrake') - self.mapping.add('spoilers') - - self._packet_size = struct.calcsize(self.pack_string) - - self.set('version', self.FG_NET_FDM_VERSION) - - if len(self.values) != self.mapping._nextidx: - raise fgFDMError('Invalid variable list in initialisation') - - def packet_size(self): - '''return expected size of FG FDM packets''' - return self._packet_size - - def convert(self, value, fromunits, tounits): - '''convert a value from one set of units to another''' - if fromunits == tounits: - return value - if (fromunits,tounits) in self.unitmap: - return value * self.unitmap[(fromunits,tounits)] - if (tounits,fromunits) in self.unitmap: - return value / self.unitmap[(tounits,fromunits)] - raise fgFDMError("unknown unit mapping (%s,%s)" % (fromunits, tounits)) - - - def units(self, varname): - '''return the default units of a variable''' - if not varname in self.mapping.vars: - raise fgFDMError('Unknown variable %s' % varname) - return self.mapping.vars[varname].units - - - def variables(self): - '''return a list of available variables''' - return sorted(self.mapping.vars.keys(), - key = lambda v : self.mapping.vars[v].index) - - - def get(self, varname, idx=0, units=None): - '''get a variable value''' - if not varname in self.mapping.vars: - raise fgFDMError('Unknown variable %s' % varname) - if idx >= self.mapping.vars[varname].arraylength: - raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % ( - varname, idx, self.mapping.vars[varname].arraylength)) - value = self.values[self.mapping.vars[varname].index + idx] - if units: - value = self.convert(value, self.mapping.vars[varname].units, units) - return value - - def set(self, varname, value, idx=0, units=None): - '''set a variable value''' - if not varname in self.mapping.vars: - raise fgFDMError('Unknown variable %s' % varname) - if idx >= self.mapping.vars[varname].arraylength: - raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % ( - varname, idx, self.mapping.vars[varname].arraylength)) - if units: - value = self.convert(value, units, self.mapping.vars[varname].units) - self.values[self.mapping.vars[varname].index + idx] = value - - def parse(self, buf): - '''parse a FD FDM buffer''' - try: - t = struct.unpack(self.pack_string, buf) - except struct.error, msg: - raise fgFDMError('unable to parse - %s' % msg) - self.values = list(t) - - def pack(self): - '''pack a FD FDM buffer from current values''' - for i in range(len(self.values)): - if math.isnan(self.values[i]): - self.values[i] = 0 - return struct.pack(self.pack_string, *self.values) |